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   <div id="projectname">Ball Balancing Plate
   &#160;<span id="projectnumber">1.0.0</span>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<a href="#pri-attribs">Private Attributes</a>  </div>
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<p><code>#include &lt;<a class="el" href="compute_8hpp_source.html">compute.hpp</a>&gt;</code></p>
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Collaboration diagram for Compute:</div>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga06063e8787ec8883de4ea5b5cc347b9b">Compute</a> (int <a class="el" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39">width</a>, int <a class="el" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d">height</a>)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The constructor.  <a href="group___control.html#ga06063e8787ec8883de4ea5b5cc347b9b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga0b870ef17154c6d4395e38a706b0421f">~Compute</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The destructor.  <a href="group___control.html#ga0b870ef17154c6d4395e38a706b0421f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_p_i_d.html">PID</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gad916f913222c92830ecb4a192b67c6d4">getPIDX</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return <a class="el" href="class_p_i_d.html">PID</a> x axis.  <a href="group___control.html#gad916f913222c92830ecb4a192b67c6d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_p_i_d.html">PID</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga23898dbfd5e46b3dbe38d245bd417b9d">getPIDY</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return <a class="el" href="class_p_i_d.html">PID</a> y axis.  <a href="group___control.html#ga23898dbfd5e46b3dbe38d245bd417b9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga426882753acbede055673691abe6b597">setPoint</a> (int x, int y)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the x,y coordinates of the set point.  <a href="group___control.html#ga426882753acbede055673691abe6b597"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gaab1c21a03462410a52b24047c66961fe">center</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the set point to the center.  <a href="group___control.html#gaab1c21a03462410a52b24047c66961fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gae689eda9201b54d1ca06a04a693b0e73">IsConnected</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Check serial connection.  <a href="group___control.html#gae689eda9201b54d1ca06a04a693b0e73"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga654ce447d37ead187bf4294108f14dff">Update</a> (int x, int y)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Main control function.  <a href="group___control.html#ga654ce447d37ead187bf4294108f14dff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gadda796b81679fb1274b031977ed4aa85">SetPlotter</a> (char *, IplImage *)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set OpenCV output window and image.  <a href="group___control.html#gadda796b81679fb1274b031977ed4aa85"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gab35c5e0efd0fc15725300a44ec49ab3b">Plot</a> (float x_est, float y_est)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw a XY plot.  <a href="group___control.html#gab35c5e0efd0fc15725300a44ec49ab3b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_serial.html">Serial</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a02745647b5601692ac3ec9bcf595637a">serial</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The serial driver instance.  <a href="#a02745647b5601692ac3ec9bcf595637a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_p_i_d.html">PID</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#af65423b80c39fdf34188349218557de9">pidX</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_p_i_d.html">PID</a> for X coordinate.  <a href="#af65423b80c39fdf34188349218557de9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_p_i_d.html">PID</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a4b5b07c13ce32db61263e2f50b98fa26">pidY</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_p_i_d.html">PID</a> for Y coordinate.  <a href="#a4b5b07c13ce32db61263e2f50b98fa26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_kalman.html">Kalman</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a9d8e6f018efceb624332a8ed22b2d896">kalmanX</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_kalman.html">Kalman</a> filter for X coordinate.  <a href="#a9d8e6f018efceb624332a8ed22b2d896"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_kalman.html">Kalman</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#aaf52b9db239d1a995d4c049ea33557f0">kalmanY</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_kalman.html">Kalman</a> filter for X coordinate.  <a href="#aaf52b9db239d1a995d4c049ea33557f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39">width</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Camera frame width.  <a href="#a77daaacdce6ae91ec1747a3ac7a89e39"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d">height</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Camera frame height.  <a href="#a0495bed470f6c5730e8f50d5dc22272d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a91eddcbc9fc44cccfef148a668e4da5a">setPoint_x</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">X coordinate of the set point.  <a href="#a91eddcbc9fc44cccfef148a668e4da5a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#ab87fb2b6af3b765f819f85fcaa19da32">setPoint_y</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Y coordinate of the set point.  <a href="#ab87fb2b6af3b765f819f85fcaa19da32"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a2542b78d6ec19f697e393f583443e924">window</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The window used to draw the graph.  <a href="#a2542b78d6ec19f697e393f583443e924"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">IplImage *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a530b8cca9b6eb572c8428760a66fccd5">image</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The image used for plotting data.  <a href="#a530b8cca9b6eb572c8428760a66fccd5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_compute.html#a964c729355e2057c689c3f7dd2e73b43">sample</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Plot x value.  <a href="#a964c729355e2057c689c3f7dd2e73b43"></a><br/></td></tr>
</table>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a0495bed470f6c5730e8f50d5dc22272d"></a><!-- doxytag: member="Compute::height" ref="a0495bed470f6c5730e8f50d5dc22272d" args="" -->
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          <td class="memname">int <a class="el" href="class_compute.html#a0495bed470f6c5730e8f50d5dc22272d">Compute::height</a><code> [private]</code></td>
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<div class="memdoc">

<p>Camera frame height. </p>

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<a class="anchor" id="a530b8cca9b6eb572c8428760a66fccd5"></a><!-- doxytag: member="Compute::image" ref="a530b8cca9b6eb572c8428760a66fccd5" args="" -->
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          <td class="memname">IplImage* <a class="el" href="class_compute.html#a530b8cca9b6eb572c8428760a66fccd5">Compute::image</a><code> [private]</code></td>
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<p>The image used for plotting data. </p>

</div>
</div>
<a class="anchor" id="a9d8e6f018efceb624332a8ed22b2d896"></a><!-- doxytag: member="Compute::kalmanX" ref="a9d8e6f018efceb624332a8ed22b2d896" args="" -->
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          <td class="memname"><a class="el" href="class_kalman.html">Kalman</a>* <a class="el" href="class_compute.html#a9d8e6f018efceb624332a8ed22b2d896">Compute::kalmanX</a><code> [private]</code></td>
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<p><a class="el" href="class_kalman.html">Kalman</a> filter for X coordinate. </p>

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</div>
<a class="anchor" id="aaf52b9db239d1a995d4c049ea33557f0"></a><!-- doxytag: member="Compute::kalmanY" ref="aaf52b9db239d1a995d4c049ea33557f0" args="" -->
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          <td class="memname"><a class="el" href="class_kalman.html">Kalman</a>* <a class="el" href="class_compute.html#aaf52b9db239d1a995d4c049ea33557f0">Compute::kalmanY</a><code> [private]</code></td>
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<div class="memdoc">

<p><a class="el" href="class_kalman.html">Kalman</a> filter for X coordinate. </p>

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</div>
<a class="anchor" id="af65423b80c39fdf34188349218557de9"></a><!-- doxytag: member="Compute::pidX" ref="af65423b80c39fdf34188349218557de9" args="" -->
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          <td class="memname"><a class="el" href="class_p_i_d.html">PID</a>* <a class="el" href="class_compute.html#af65423b80c39fdf34188349218557de9">Compute::pidX</a><code> [private]</code></td>
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<div class="memdoc">

<p><a class="el" href="class_p_i_d.html">PID</a> for X coordinate. </p>

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</div>
<a class="anchor" id="a4b5b07c13ce32db61263e2f50b98fa26"></a><!-- doxytag: member="Compute::pidY" ref="a4b5b07c13ce32db61263e2f50b98fa26" args="" -->
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          <td class="memname"><a class="el" href="class_p_i_d.html">PID</a>* <a class="el" href="class_compute.html#a4b5b07c13ce32db61263e2f50b98fa26">Compute::pidY</a><code> [private]</code></td>
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<p><a class="el" href="class_p_i_d.html">PID</a> for Y coordinate. </p>

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<a class="anchor" id="a964c729355e2057c689c3f7dd2e73b43"></a><!-- doxytag: member="Compute::sample" ref="a964c729355e2057c689c3f7dd2e73b43" args="" -->
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          <td class="memname">int <a class="el" href="class_compute.html#a964c729355e2057c689c3f7dd2e73b43">Compute::sample</a><code> [private]</code></td>
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<p>Plot x value. </p>

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<a class="anchor" id="a02745647b5601692ac3ec9bcf595637a"></a><!-- doxytag: member="Compute::serial" ref="a02745647b5601692ac3ec9bcf595637a" args="" -->
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          <td class="memname"><a class="el" href="class_serial.html">Serial</a>* <a class="el" href="class_compute.html#a02745647b5601692ac3ec9bcf595637a">Compute::serial</a><code> [private]</code></td>
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<p>The serial driver instance. </p>

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<a class="anchor" id="a91eddcbc9fc44cccfef148a668e4da5a"></a><!-- doxytag: member="Compute::setPoint_x" ref="a91eddcbc9fc44cccfef148a668e4da5a" args="" -->
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          <td class="memname">int <a class="el" href="class_compute.html#a91eddcbc9fc44cccfef148a668e4da5a">Compute::setPoint_x</a><code> [private]</code></td>
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<p>X coordinate of the set point. </p>

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<a class="anchor" id="ab87fb2b6af3b765f819f85fcaa19da32"></a><!-- doxytag: member="Compute::setPoint_y" ref="ab87fb2b6af3b765f819f85fcaa19da32" args="" -->
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          <td class="memname">int <a class="el" href="class_compute.html#ab87fb2b6af3b765f819f85fcaa19da32">Compute::setPoint_y</a><code> [private]</code></td>
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<p>Y coordinate of the set point. </p>

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<a class="anchor" id="a77daaacdce6ae91ec1747a3ac7a89e39"></a><!-- doxytag: member="Compute::width" ref="a77daaacdce6ae91ec1747a3ac7a89e39" args="" -->
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          <td class="memname">int <a class="el" href="class_compute.html#a77daaacdce6ae91ec1747a3ac7a89e39">Compute::width</a><code> [private]</code></td>
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<p>Camera frame width. </p>

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<a class="anchor" id="a2542b78d6ec19f697e393f583443e924"></a><!-- doxytag: member="Compute::window" ref="a2542b78d6ec19f697e393f583443e924" args="" -->
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          <td class="memname">char* <a class="el" href="class_compute.html#a2542b78d6ec19f697e393f583443e924">Compute::window</a><code> [private]</code></td>
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<p>The window used to draw the graph. </p>

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